by Giovanni Pini
April 2013
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Table of Contents
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The video shows the trajectory of a marXbot when both wheel speeds are set to 0.1 m/s. In the first part of the video the robots goes backwards, in the second part it goes forwards. |
The tables compare simulation and real-robot experiments. For each measure, we report the 95% confidence interval on the value of the mean. The first table reports the data collected in the experiments in which the swarm perform foraging using the non-partition strategy, while the second table reports the data collected in the experiments in which the swarm performs foraging using the partition strategy. The number of significant digits used to express frequencies depend on the total number of runs used to compute such frequencies (6 real-robot and 200 simulation runs for each strategy).
MEASURE | REAL ROBOTS | SIMULATION | DESCRIPTION |
Get lost frequency - objects source | 0.7 - 0.8 | 0.77 - 0.79 | Frequency at which the robots do not locate the source during neighborhood search and gets lost |
Source found with random walk | 0.7 - 0.8 | 0.77 - 0.79 | Frequency at which the source is found via random walk |
Source found directly | 0.2 - 0.6 | 0.38 - 0.46 | Frequency at which the source is directly found: the duration of neighborhood search is zero |
Exit arena | 0 - 0 | 0 - 0.02 | Number of times (per run) the robot tries to reach a position outside the boundaries |
MEASURE | REAL ROBOTS | SIMULATION | DESCRIPTION |
Get lost frequency - objects source | 0.1 - 0.2 | 0.13 - 0.15 | Frequency at which the robots do not locate the source during neighborhood search and gets lost. |
Source found with random walk | 0.1 - 0.2 | 0.21 - 0.23 | Frequency at which the source is found via random walk |
Source found directly | 0.6 - 0.9 | 0.63 - 0.66 | Frequency at which the source is directly found: the duration of neighborhood search is zero |
Get lost frequency - transfer locations | 0.1 - 0.2 | 0.11 - 0.12 | Frequency at which the robots do not locate the position where they received an object and get lost |
Transfer partner found with random walk | 0.1 - 0.2 | 0.09 - 0.1 | Frequency at which a transfer partner is found via random walk |
Transfer partner found directly - % | 0.3 - 0.4 | 0.14 - 0.16 | Frequency at which a transfer partner is directly found: the duration of neighborhood search is zero |
Abandon transfer | 0.33 - 1.33 | 0.7 - 0.95 | Number of times (per run) the robots abandons trying to transfer the object (timeout) |
Exit arena | 0 - 0.5 | 0 - 0 | Number of times (per run) the robot tries to reach a position outside the boundaries |